# LED 1
lightring_msg.leds[1].red = 0
lightring_msg.leds[1].blue = 255
lightring_msg.leds[1].green = 0
# LED 2
lightring_msg.leds[2].red = 0
lightring_msg.leds[2].blue = 0
lightring_msg.leds[2].green = 255
# LED 3
lightring_msg.leds[3].red = 255
lightring_msg.leds[3].blue = 255
lightring_msg.leds[3].green = 0
# LED 4
lightring_msg.leds[4].red = 255
lightring_msg.leds[4].blue = 0
lightring_msg.leds[4].green = 255
# LED 5
lightring_msg.leds[5].red = 0
lightring_msg.leds[5].blue = 255
lightring_msg.leds[5].green = 255
# Publish the message
self.lightring_publisher.publish(lightring_msg)
This function creates a LightringLeds message and populates the parameters.
We first stamp the message with the current time:
lightring_msg.header.stamp = self.get_clock().now().to_msg()
Then we set the override_system parameter to True so that our command overrides whatever
commands the Create® 3 is sending to the lightring.
lightring_msg.override_system = True
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